# US 12,595,127 B2 · System and method for picking items > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,595,127 B2 - Document ID: US12595127B2 - Status: Granted - Kind: B2 - Application number: 17/992,912 - Filed: 2022-11-22 - Published: 2024-05-23 - Granted: 2026-04-07 - Earliest claimed: 2022-11-22 - Assignees: Zebra Technologies Corporation - Applicants: Zebra Technologies Corporation - Inventors: Robert E. Beach - Web page: https://patentgrep.com/patent/US12595127B2 ## CPC - B65G 1/1375: {the orders being assembled on a commissioning stacker-crane or truck} - B25J 5/007: {mounted on wheels} - B25J 15/0014: {having fork, comb or plate shaped means for engaging the lower surface on a object to be transported} - B25J 15/0616: {with vacuum} - B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract An example transporter includes: a chassis with a locomotive assembly; a first basket supported on the chassis, the first basket configured to collect items for an order; an item sensor configured to detect the items; a picking arm supported on the chassis and having a second basket extending from the picking arm, the picking arm configured to engage the items and draw the items into the second basket; and a processor configured to: in response to detecting the target item by the item sensor, move the picking arm to position the second basket to receive the target item; control the picking arm to engage the target item and draw the target item into the second basket; and control the second basket to deposit the target item into the first basket. ## Claims ### Claim 1 A transporter comprising: a chassis with a locomotive assembly; a first basket supported on the chassis, the first basket configured to collect items for an order; an item sensor configured to detect the items; a picking arm supported on the chassis and having an end effector and a second basket extending from the picking arm, the picking arm configured to engage the items and draw the items into the second basket; and a processor configured to: in response to detecting a target item by the item sensor, move the picking arm to position the second basket to receive the target item; control the picking arm to engage the target item and draw the target item into the second basket by activating a vacuum pump associated with the end effector to apply a vacuum to pull the target item towards the end effector to engage a front surface of the target item; and control the second basket to deposit the target item into the first basket, wherein the picking arm comprises a first section configured to move to position the second basket to receive the target item, and a second section having the end effector configured to engage the target item, the second section configured to move to position the end effector to engage the target item and draw the target item into the second basket. ### Claim 2 (depends on 1) The transporter of claim 1, wherein the processor is configured to: detect, using the item sensor, a support surface or support item on which the target item is supported; and position a top surface of the second basket within a threshold distance of the support surface or support item. ### Claim 3 (depends on 1) The transporter of claim 1, wherein the second basket comprises a releasable base configured to release to deposit the target item into the first basket. ### Claim 4 (depends on 1) The transporter of claim 1, wherein the second basket is rotatable to deposit the target item into the first basket. ### Claim 5 (depends on 1) The transporter of claim 1, wherein the processor is further configured to: receive a list of target items to be collected in the first basket; and determine a picking sequence of the target items to be collected based on item parameters. ### Claim 6 (depends on 5) The transporter of claim 5, wherein the processor is configured to pick a subset of items on the list of target items into the second basket according to the picking sequence prior to depositing the subset of items from the second basket into the first basket. ### Claim 7 (depends on 1) The transporter of claim 1, wherein the processor is further configured to perform inventory management functions for the items detected by the item sensor. ### Claim 8 A method comprising: receiving a pick task specifying a target item to pick and deposit in a first basket; in response to detecting the target item on a support structure, moving a picking arm to position a second basket to receive the target item; controlling the picking arm to engage the target item and draw the target item into the second basket by activating a vacuum pump associated with an end effector of the picking arm to apply a vacuum to pull the target item towards the end effector to engage a front surface of the target item; and controlling the second basket to deposit the target item into the first basket, wherein moving the picking arm comprises moving a first section of the picking arm to position the first basket to receive the target item; and controlling the picking arm comprises controlling a second section of the picking arm to position the end effector extending from the second section to engage the target item and draw the target item into the second basket. ### Claim 9 (depends on 8) The method of claim 8, further comprising: detecting a support surface or support item on which the target item is supported; and positioning a top of the second basket within a threshold distance of the support surface or support item. ### Claim 10 (depends on 8) The method of claim 8, further comprising releasing a releasable base of the second basket to deposit the target item into the first basket. ### Claim 11 (depends on 8) The method of claim 8, further comprising rotating the second basket to deposit the target item into the first basket. ### Claim 12 (depends on 8) The method of claim 8, further comprising: receiving a list of target items to be collected in the first basket; and determining a picking sequence of the target items to be collected based on item parameters. ### Claim 13 (depends on 12) The method of claim 12, further comprising picking a subset of items on the list of target items into the second basket according to the picking sequence prior to depositing the subset of items from the second basket into the first basket. ### Claim 14 (depends on 8) The method of claim 8, further comprising performing inventory management functions for the items detected by an item sensor.